Robust tracking and vibration suppression for nonlinear two-inertia system via modified dynamic surface control with error constraint

Shubo Wang, Xuemei Ren*, Jing Na, Xuehui Gao

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)

10 Citations (Scopus)
341 Downloads (Pure)

Abstract

This paper proposes a modified dynamic surface control (DSC) for speed tracking and torsional vibration suppression for two-inertia systems with nonlinear friction. The proposed controller contains two parts: tracking controller and friction compensator. The tracking controller is designed by modifying dynamic surface control, which replaces the traditional first-order filter with a high-gain tracking differentiator (HGTD). Meanwhile, an improved prescribed performance function with error constraint is also presented and incorporated into DSC design. As for the friction compensator, the nonlinear nonsmooth friction is parameterized and then compensated using echo state neural networks (ESNs). The state observer with friction compensation is used to estimate unmeasurable load speed and torsional torque. The effectiveness of proposed control scheme is verified by simulation and experiment results.

Original languageEnglish
Pages (from-to)73-85
Number of pages13
JournalNeurocomputing
Volume203
Early online date6 May 2016
DOIs
Publication statusPublished - 26 Aug 2016

Keywords

  • Dynamic surface control
  • Friction compensation
  • Prescribed performance constraint
  • Two-inertia system
  • Vibration suppression

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